Vibrations ME400

Chapter 2

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Free Vibration of SDOF Systems
• “Free” = no external excitation (driving) force
• “SDOF” = Single Degree Of Freedom
• Spring-Mass System = Simple Harmonic Oscillator (SHO)
Free Vibration of Undamped SDOF System
• Use Newton’s 2nd Law: ∑𝐹റ = 𝑚𝑎റ
𝑖Ƹ 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛: −𝑘𝑥 = 𝑚𝑥ሷ
𝑗Ƹ 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛: 𝑁 − 𝑚𝑔 = 0
• EOM
𝑚𝑥ሷ + 𝑘𝑥 = 0
• Linear 2nd order ODE - can solve analytically
j
g j
x
i
Fs = kx i
k
m mg N
Free Vibration of Undamped SDOF Systems
• Re-derive EOM using Conservation of Energy
1 2
1 2
𝐸 = 𝑇 + 𝑉 = 𝑚𝑥ሶ + 𝑘𝑥 = 𝑐𝑜𝑛𝑠𝑡
2 2
𝑑𝐸
= 𝑚𝑥ሶ 𝑥ሷ + 𝑘𝑥 𝑥ሶ = 0
𝑑𝑡
𝑚𝑥ሷ + 𝑘𝑥 = 0

j
g x
i

k
m
Free Vibration of Undamped SDOF System
• Solve EOM by assuming solution of the form
𝑥 𝑡 = 𝐶𝑒 𝜆𝑡
• Substituting into EOM gives characteristic equation
𝑚𝜆2 + 𝑘 = 0
• Roots are
𝑘
𝜆1,2 = ±𝑖
𝑚
• So solution is
𝑘 𝑘
𝑖 𝑚𝑡 −𝑖 𝑚𝑡
𝑥 𝑡 = 𝐶1 𝑒 + 𝐶2 𝑒
Free Vibration of Undamped SDOF System
• Since this is purely imaginary can use the identity
𝑒 ±𝑖𝛼 = cos 𝛼 ± 𝑖 sin 𝛼
• to re-write as sinusoids
𝑘 𝑘
𝑥 𝑡 = 𝐴1 cos 𝑚𝑡 + 𝐴2 sin 𝑚𝑡

• Define
𝑘
𝜔𝑛 = Natural frequency
𝑚
• to write displacement (position) as
𝑥 𝑡 = 𝐴1 cos 𝜔𝑛 𝑡 + 𝐴2 sin 𝜔𝑛 𝑡
Free Vibration of Undamped SDOF System
• Determine constants using initial conditions (𝑥0 , 𝑣0 )
- Evaluating position at t=0
𝑥 𝑡 = 0 = 𝑥0 = 𝐴1
- Take derivative of position to find velocity
𝑥ሶ 𝑡 = −𝜔𝑛 𝐴1 sin 𝜔𝑛 𝑡 + 𝜔𝑛 𝐴2 cos 𝜔𝑛 𝑡
- Evaluating velocity at t=0
𝑥ሶ 𝑡 = 0 = 𝑣0 = 𝜔𝑛 𝐴2
Free Vibration of Undamped SDOF System
• Summarizing
𝑥 𝑡 = 𝐴1 cos 𝜔𝑛 𝑡 + 𝐴2 sin 𝜔𝑛 𝑡
𝑣0
𝐴1 = 𝑥0 𝐴2 =
𝜔𝑛
• Substituting
𝑣0
𝑥 𝑡 = 𝑥0 cos 𝜔𝑛 𝑡 + sin 𝜔𝑛 𝑡
𝜔𝑛
• General solution – true for all time
Free Vibration of Undamped SDOF System
• Alternate forms: Use double-angle relations to convert
𝑥 𝑡 = 𝐴1 cos 𝜔𝑛 𝑡 + 𝐴2 sin 𝜔𝑛 𝑡 𝑥 𝑡 = 𝐴1 cos 𝜔𝑛 𝑡 + 𝐴2 sin 𝜔𝑛 𝑡
𝑥 𝑡 = 𝑋 sin 𝜔𝑛 𝑡 + 𝜙 𝑥 𝑡 = 𝑋 cos 𝜔𝑛 𝑡 − 𝜙
𝐴1 = 𝑋 sin 𝜙 𝐴1 = 𝑋 cos 𝜙
𝐴2 = 𝑋 cos 𝜙 𝐴2 = 𝑋 sin 𝜙
𝑋= 𝐴12 + 𝐴22 Amplitude 𝑋= 𝐴12 + 𝐴22 Amplitude
−1 𝐴1 −1 𝐴2
𝜙= tan Phase Angle 𝜙= tan Phase Angle
𝐴2 𝐴1

• Note difference in A-coefficient and phase angle definition –

need to know which form is being used for x(t)
Example 2.6
Example - Problem 2.12

Prob 2.12
Find the natural frequency of the system shown with and
without the springs 𝑘1 and 𝑘2 in the middle of the elastic
beam.
Example - Problem 2.16
Prob 2.16
A sledgehammer strikes an anvil with a velocity of 50 ft/sec.
The hammer and the anvil weigh 12 lb and 100 lb, respectively.
The anvil is supported on four springs, each of stiffness k = 100
lb / in. Find the resulting motion of the anvil (a) if the hammer
remains in contact with the anvil and (b) if the hammer does
not remain in contact with the anvil after the initial impact.
Example - Simple Pendulum

Pendulum
Find the natural frequency of the simple pendulum for small
oscillations.
Example - Problem 2.101

Prob 2.101
A mass 𝑚1 is attached at one end of a uniform bar of mass 𝑚2
whose other end is pivoted at point O. Determine the natural
frequency of vibration of the resulting pendulum for small
angular displacements.
Free Vibration of Undamped Torsional System
• Rotational displacement of torsional system
due to applied moment (torque)
𝐺𝐼𝑝
𝑀= 𝜃
𝑙
𝑀 𝐺𝐼𝑝
• Stiffness: 𝜅=
𝜃
=
𝑙
1 1
• Energy: 𝐸=
2
𝐽0 𝜃ሶ 2 + 𝜅𝜃 2
2
= 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡

• EOM: 𝐽0 𝜃ሷ + 𝜅𝜃 = 0 same as SHO

• Natural frequency: 𝜔𝑛 = 𝜅
𝜋𝑑 4
𝐽0
𝐼𝑝 =
32
for circular shaft
Example - Problem 2.90
Prob 2.90
A heavy ring of mass moment of inertia 1.0 kg-m2 is attached at
the end of a two-layered hollow shaft of length 2 m. If the two
layers of the shaft are made of steel and brass, determine the
natural time period of torsional vibration of the heavy ring.
Free Vibration with Viscous Damping
• Add viscous damping to SDOF system
- Dashpot = container filled with viscous fluid
- Force linearly proportional to velocity

j
g x
i j
k 𝐹𝑠 = 𝑘𝑥
𝐹𝑑 = 𝑐 𝑥ሶ i
c m
mg N
Free Vibration with Viscous Damping
• EOM
𝑚𝑥ሷ + 𝑐𝑥ሶ + 𝑘𝑥 = 0
• 2nd order linear ODE – we can solve!
- Solution
𝑥 𝑡 = 𝐴𝑒 𝜆𝑡
- where
−𝑐 ± 𝑐 2 − 4𝑚𝑘
𝜆=
2𝑚
• Behavior of 𝑥(𝑡) depends on sign of square root term
Free Vibration with Viscous Damping
• Convenient to introduce some new terms to characterize
response
• Define Critical Damping when radical equals zero
𝑐𝑐 = 2 𝑚𝑘
• Then damping ratio 𝜁 relates actual damping in system to
critical damping
𝑐
𝜁=
𝑐𝑐
• Roots become
𝜆1,2 = −𝜁 ± 𝜁 2 − 1 𝜔𝑛
Free Vibration with Viscous Damping
• Can re-write entire problem in normalized form by dividing
EOM by m
𝑥ሷ + 2𝜁𝜔𝑛 𝑥ሶ + 𝜔𝑛2 𝑥 = 0
- Solution
𝑥 𝑡 = 𝐴𝑒 𝜆𝑡
- where
𝜆1,2 = −𝜁 ± 𝜁 2 − 1 𝜔𝑛
• Key relations
𝑘
𝜔𝑛 = Natural frequency
𝑚
𝑐
𝜁= Critical damping ratio
2 𝑚𝑘
Characterize Response
• Under-damped case (sub-critical damping): 𝜁 < 1
- Characteristic roots
𝜆1,2 = −𝜁𝜔𝑛 ± 𝑖𝜔𝑑
- where 𝜔𝑑 is defined as damped frequency
𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2
- Solution is a decaying sinusoid
𝑥 𝑡 = 𝑒 −𝜁𝜔𝑛 𝑡 𝐴1 cos 𝜔𝑑 𝑡 + 𝐴2 sin 𝜔𝑑 𝑡
𝐴1 = 𝑥0
𝑣0 + 𝜁𝜔𝑛 𝑥0
𝐴2 =
𝜔𝑑
Characterize Response
• Over-damped case (super-critical damping): 𝜁 > 1
- Characteristic roots (two unique negative real roots)
𝜆1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛 𝜁 2 − 1
- Solution is two exponentially decaying terms (no oscillations)
𝑥 𝑡 = 𝐶1 𝑒 𝜆1 𝑡 + 𝐶2 𝑒 𝜆2 𝑡
𝜆2 𝑥0 − 𝑣0
𝐶1 =
𝜆2 − 𝜆1
−𝜆1 𝑥0 + 𝑣0
𝐶2 =
𝜆2 − 𝜆1
Characterize Response
• Critically-damped case: 𝜁 = 1
- Characteristic roots (double root)
𝜆1,2 = −𝜔𝑛
- Solution is exponentially decaying (no oscillations)
𝑥 𝑡 = 𝐶1 + 𝐶2 𝑡 𝑒 −𝜔𝑛 𝑡
𝐶1 = 𝑥0
𝐶2 = 𝑣0 + 𝜔𝑛 𝑥0
Damped Vibrations Summary
• Key relations
- Natural frequency
𝑘
𝜔𝑛 =
𝑚

- Critical damping ratio

𝑐
𝜁=
2 𝑚𝑘

- Damped frequency
𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2
Example – Problem 2.142

Prob 2.142
Derive the equation of motion and find the natural
frequency of vibration for the system shown.
Example 2.13
Other Damping Measures
• Logarithmic Decrement
- Based on ratio of two successive peaks in response
𝑥1
𝛿 = 𝑙𝑛
𝑥2
- Can relate to 𝜁
𝛿 𝛿
𝜁= 2 +𝛿 2
(≅
2𝜋
for small damping)
2𝜋
- In typical experiment measure over a number of cycles, m
1 𝑥1
𝛿 = 𝑙𝑛
𝑚 𝑥𝑚+1
Other Damping Measures
• Energy Dissipation
- Energy dissipated per cycle normalized by total energy
Δ𝑊
= 4𝜋𝜁
𝑊
• Loss Coefficient
- Typically used to compare damping of various materials
Δ𝑊
𝜂= = 2𝜁
2𝜋𝑊
Damping Table
• Just FYI… a summary
table I put together many
years ago for my own
reference
Free Vibration with Coulomb Damping
• System behaves somewhat differently with friction damping
• Damping force is constant
• Resulting EOM is nonlinear
- Can’t solve analytically in general (for all time)
- But piecewise linear – can solve analytically for each half-cycle
Free Vibration with Coulomb Damping
• Velocity negative (half-cycle when mass moves right to left)
- EOM (from FBD in (c))
𝑚𝑥ሷ + 𝑘𝑥 = 𝜇𝑁
- Solution
𝜇𝑁 𝜇𝑁
𝑥 𝑡 = 𝑥0 − cos 𝜔𝑛 𝑡 +
𝑘 𝑘
• Velocity positive (half-cycle when mass moves left to right)
- EOM (from FBD in (b))
𝑚𝑥ሷ + 𝑘𝑥 = −𝜇𝑁
- Solution
3𝜇𝑁 𝜇𝑁
𝑥 𝑡 = 𝑥0 − cos 𝜔𝑛 𝑡 −
𝑘 𝑘
Free Vibration with Coulomb Damping
• Amplitude envelope decays linearly until mass comes to rest
• Damped frequency same as natural frequency